JPH0357031B2 - - Google Patents

Description

Detailed Description of the Invention (Industrial Application Field) The present invention relates to means for lifting and lowering workpieces in overhead traveling cranes, means for lifting and lowering various work devices such as manipulators in a suspended state, etc. This invention relates to a hanging lifting device that can be used for.

(Prior art and its problems) For example, as a means for lifting and lowering workpieces in an overhead traveling crane, etc., a flexible hanging cable such as a chain or wire and a drum for winding up and feeding out the hanging cable are used. The hoist type used is common.

This kind of hoist-type lifting device consists of a drum for hoisting and feeding out hanging cables and a ground surface (floor surface).
The distance between the two and the lifting height of the elevating body suspended by the suspension cable can be made approximately equal, and
Since there is no need to secure a special space above the drum, for example, when installing the elevating device indoors, the lift height of the elevating body can be reduced by installing the drum as close to the ceiling as possible. can be set larger than any other lifting device, but the biggest drawback is that the lifting object is suspended by a flexible hanging rope such as a chain or wire, so the lifting object can swing. At the point. In particular, when the suspension base on which the drum is installed moves, such as with an overhead traveling crane,
Shaking of the elevating body due to inertia cannot be avoided. Therefore, it becomes necessary to load and unload workpieces until the elevating body completely stops, and it becomes difficult to increase the traveling speed. In addition, when used as a means for lifting and lowering various work devices such as manipulators, there is a risk that the position of the work device may fluctuate due to the reaction force of the work device, so high-precision work must be performed at high speed. It is difficult to do so.

Of course, as devices for moving the lifting object up and down without causing shaking, there are devices such as a stacker crane that uses a support to guide the lifting object, and a device that supports the lifting object with a pantograph link such as a table lifter. However, in such a device, not only is the entire device large and expensive, but it also has the drawback that it is difficult to effectively utilize the space below and around the elevating body.

(Means for Solving the Problems) The present invention proposes a hanging lifting device that can solve all of the conventional problems as described above. At least three locations surrounding the center of suspension of the elevating body, spaced at approximately equal intervals in the circumferential direction, are suspended from the suspension base via chain-shaped suspension members connected in a chain shape that can be bent only in one direction. , a drum for winding up and feeding out each of the hanging members and a driving means for interlocking rotational driving of each drum are provided on the base; The drums are arranged so as to move away from or approach the center of suspension of the elevating body, and the drums are arranged in a direction opposite to the direction in which each chain-shaped hanging member extended downward from each drum can be bent. The present invention is characterized in that a hanging member guide is provided on the base to prevent the hanging member from swinging in the center.

(Operations and Effects of the Invention) According to the elevating device of the present invention as described above, the elevating body is lowered by driving each of the drums in normal rotation and letting out each hanging member, and each drum is driven in reverse. The lifting body can be moved upward by hoisting each hanging member, but even if an external force in the horizontal and lateral direction is applied to the lifting body suspended by each hanging member, multiple hanging members Among the hanging members, at least one hanging member that cannot be bent in the direction of action of the external force and the hanging member guide that approaches the hanging member receive the external force, and the elevating body It is possible to prevent the external force from swinging in the acting direction.

In other words, since the elevating body is lifted and lowered while being suspended by a plurality of hanging members that can be rolled up and unrolled by a drum on a hanging base, the total lifting height is lower than that of a stacker crane. There is no need to install a large base such as a support column or table lifter on the floor, and the entire height under the suspension base is used as the lifting height of the lifting object, similar to conventional hoist-type lifting equipment. When installed indoors, the hanging base can be installed as close to the ceiling as possible, thereby maximizing the lifting height of the elevating body. Moreover, the space below and around the elevating body can be effectively utilized.

Furthermore, it is possible to reliably prevent the horizontal movement of the lifting body, which was the biggest drawback of conventional hoist-type lifting devices, so even when this lifting device is used for overhead traveling cranes, workpieces can be moved safely and at high speed. In addition to being transportable, there is no or very little horizontal shaking of the work due to inertia when the work is stopped, so the next operation can be started immediately after the work is stopped, reducing cycle time. In addition, even when used as a lifting/lowering drive means for various work devices such as manipulators, the work device does not swing due to the reaction force of the work device, so high-precision work can be performed safely. I can do it.

(Example) An example of the present invention will be described below based on the attached illustrative drawings.

In FIG. 1, 1 is a ceiling running frame that runs guided by a pair of left and right guide rails 2, and 3 is a hanging frame that is supported on the ceiling running frame 1 so as to be movable laterally in the left and right directions. It is a horizontally movable base from which various working devices 4 such as manipulators are suspended. As shown in Figures 2 and 3,
On both left and right sides of the ceiling traveling frame 1, driving wheels 5 and idle wheels 6, which fit into the pair of left and right guide rails 2, and vertical shaft rollers 7 for steady rest are pivotally supported. Two traveling motors 8 (only one is shown in the figure) are mounted on the overhead traveling frame 1, each driving the driving wheels 5 synchronously through a drive shaft 5a and a chain transmission means 5b. Further, on both sides of the lateral movement base 3, there are a drive wheel 10 and an idling wheel 11 that fit into a pair of frame guide rails 9 provided on the ceiling traveling frame 1, respectively, and a vertical shaft for steady rest. A roller 12 is pivotally supported, and the pair of drive wheels 10 are connected to a common drive shaft 10a and chain transmission means 1.
A lateral movement motor 13 driven via the lateral movement base 3 is mounted on the lateral movement base 3.

The horizontal movement base 3 has a square vertical through hole 14.
(See Fig. 3), and four winding and feeding drums 15a to 15d are mounted on the horizontal movement base 3 through horizontal drive shafts 16a to 16d in a state parallel to each side of the through hole 14. The drive shaft 16a of one drum 15a is interlocked and connected to a motor 17 mounted on the lateral movement base 3.
b, 16d is a bevel gear pair 18 on the drive shaft 16a,
19, and the remaining drive shaft 1
6c is interlocked and connected to the drive shaft 16b via a bevel gear pair 20.

Chain-shaped hanging members 22a to 22d are wound around each of the drums 15a to 15d through winding grooves 21 (see drum 15d), and one end of each of the hanging members 22a to 22d is connected to a locking metal fitting. 23 to each of the drums 15a to 15d, and the other end thereof hangs down through the through hole 14 of the lateral movement base 3. As shown in FIGS. 5 and 6, each of the chain-shaped hanging members 22a to 22d has a large number of single members 24 attached to one end 24a.
is fitted into the bifurcated other end 24b of the adjacent single body 24, and both are pivotally connected by the pivot 25 so as to be able to swing relative to each other, thereby connecting them in a chain-like manner. It is constructed by fixing a pair of stopper pins 27 passing through a pair of circular arc-shaped through holes 26 formed in a pair to the bifurcated other end 24a, and as shown by the imaginary line in FIG. It can be bent within a predetermined angle (45 degrees in the illustrated example) on one side, but is prevented from bending on the other side by the stopper pin 27.

The through holes 1 from each of the drums 15a to 15d
The free ends of each of the chain-shaped hanging members 22a to 22d, which are let out downward via the chain 4, surround the suspension center 28a of the flat plate-shaped elevating body 28, as shown in FIGS. 3 and 4. It is connected via locking fittings 29 at four locations approximately equally spaced in the circumferential direction, and the elevating body 28 is suspended in a horizontal state. At this time, each of the hanging members 22a to 22d is arranged such that the bendable direction of all of the hanging members 22a to 22d is a direction away from the hanging center 28a of the elevating body 28. A rectangular cylindrical hanging member guide 30 is supported on the horizontal movement base 3 so as to form a gap between each side of the through hole 14 that allows the hanging members 22a to 22d to move up and down. attached via a member 31,
The rectangular cylindrical hanging member swings in the opposite direction to the direction in which the hanging members 22a to 22d can be bent, that is, toward the center of the through hole 14, and swings around each of the drums 15a to 15d. It is configured to be blocked by each side of the guide 30.

In the device configured as described above, when the elevating body 28 is lowered, the motor 17 is operated to rotate each drum 15a to 15d in the direction in which the hanging member is fed out, and the hanging member is wound around each drum 15a to 15d. hanging members 22a to 22d
All you have to do is lower them at the same speed. Also, each drum 1
5a to 15d are reversed, and each hanging member 22a
22d along the winding grooves 21 of each of the drums 15a to 15d, the elevating body 28 can be moved upwardly. Furthermore, the driving wheels 5 of the overhead traveling frame 1 are driven by the motor 8 to cause the frame 1 to travel along the guide rail 2, and the driving wheels 10 of the lateral movement base 3 are driven by the motor 13, Ceiling running frame 1
On the other hand, by moving the lateral movement base 3 laterally along the guide rail 9, the position of the elevating body 28 can be moved arbitrarily within the traveling route range of the ceiling traveling frame 1.

The height and position of the working device 4 attached to the lifting body 28 can be freely changed by the above operation, but external forces (inertial forces and When an actuation reaction force (such as an actuation reaction force of the working device 4) acts, at least one of the four hanging members 22a to 22d that cannot be bent in the direction in which the external force acts and the hanging The external force is received by the hanging member guide 30 approaching the member, and the working device 4 and the elevating body 28 swing in the direction of action of the external force as the hanging members 22a to 22d bend. There isn't.

In addition, four chain-shaped hanging members 22a to 22
When d is arranged as in the embodiment, even if each of the hanging members 22a to 22d is bent in the axial direction of the pivot 25 between the single bodies 24, the intended purpose can be achieved without any problem. In some cases, the elevating body 28 may be suspended using three hanging members or five or more hanging members.

Further, each of the hanging members 22a to 22d may be arranged such that the bendable direction of all of the hanging members 22a to 22d approaches the hanging center 28a of the elevating body 28. In this case, instead of the hanging member guide 30, a hanging member guide must be installed close to the outside of each of the hanging members 22a to 22d.

Although a flat plate-like object supporting the working device 4 is illustrated as the elevating body 28, any object such as a loading platform, a hook, or a working device may be used as the elevating object depending on the purpose of use and suspended from the hanging members 22a to 22d. Good.

[Brief explanation of drawings]

Figure 1 is a schematic partially cutaway front view of the whole, Figure 2 is a partially cutaway front view.
The figure is a partial cross-sectional plan view of the main part, Fig. 3 is a vertical cross-sectional front view of the same part, Fig. 4 is a cross-sectional plan view showing the elevating body, and Fig. 5
The figure is a partially longitudinal front view showing the main parts of the hanging member.
FIG. 6 is a longitudinal sectional side view of the same part. 1... Ceiling traveling frame, 2, 9... Guide rail, 3... Lateral movement base, 4... Various work devices such as manipulator, 5, 10... Drive wheel, 8,
13, 17...Motor, 14...Through hole, 15
a to 15d...Drum for winding up and feeding out, 16
a to 16d... Drive shaft, 18 to 20... Bevel gear pair, 21... Winding groove, 22a to 22d... Chain-shaped hanging member, 23, 29... Locking metal fitting,
24... Single body, 25... Pivot, 26... Arc-shaped through hole, 27... Stopper pin, 28... Elevating body, 30... Hanging member guide.

Claims (1)

[Claims] 1 Suspend at least three points approximately equally spaced in the circumferential direction surrounding the suspension center of the elevating body through a chain-like hanging member in which a large number of single units are connected in a chain shape so that they can be bent only in one direction from a straight line. In addition to being suspended from a hanging base, a drum for winding up and feeding out each hanging member and a driving means for interlocking rotational driving of each drum are provided on the base; The members are arranged so that the bendable direction of the members is either away from or approaching the suspension center of the elevating body, and each chain-shaped hanging member paid out downward from each drum is bendable. A hanging lifting device comprising a hanging member guide provided on the base to prevent the drum from swinging in a direction opposite to that of the drum.